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#include <pcl/pcl_config.h>
#ifdef HAVE_OPENNI

#ifndef __OPENNI_DEPTH_IMAGE__
#define __OPENNI_DEPTH_IMAGE__

#include <XnCppWrapper.h>

//#include <pcl/pcl_macros.h> // <-- because current header is included in NVCC-compiled code and contains <Eigen/Core>. Consider <pcl/pcl_exports.h>
#include <pcl/pcl_exports.h>
#include "openni_exception.h"
#include <boost/shared_ptr.hpp>

namespace openni_wrapper
{

  /**
   * @brief This class provides methods to fill a depth or disparity image.
   * @author Suat Gedikli
   * @date 02.january 2011
   */
  class PCL_EXPORTS DepthImage
  {
  public:
    typedef boost::shared_ptr<DepthImage> Ptr;
    typedef boost::shared_ptr<const DepthImage> ConstPtr;

    /**
     * @author Suat Gedikli
     * @brief Constructor
     * @param[in] depth_meta_data the actual data from the OpenNI library
     * @param[in] baseline the baseline of the "stereo" camera, i.e. the distance between the projector and the IR camera for
     *        Primesense like cameras. e.g. 7.5cm for PSDK5 and PSDK6 reference design.
     * @param[in] focal_length focal length of the "stereo" frame.
     * @param[in] shadow_value defines which values in the depth data are indicating shadow (resulting from the parallax between projector and IR camera)
     * @param[in] no_sample_value defines which values in the depth data are indicating that no depth (disparity) could be determined .
     * @attention The focal length may change, depending whether the depth stream is registered/mapped to the RGB stream or not.
     */
    inline DepthImage (boost::shared_ptr<xn::DepthMetaData> depth_meta_data, float baseline, float focal_length, XnUInt64 shadow_value, XnUInt64 no_sample_value) throw ();

    /**
     * @author Suat Gedikli
     * @brief Destructor. Never throws an exception.
     */
    inline virtual ~DepthImage () throw ();

    /**
     * @author Suat Gedikli
     * @brief method to access the internal data structure from OpenNI. If the data is accessed just read-only, then this method is faster than a fillXXX method
     * @return the actual depth data of type xn::DepthMetaData.
     */
    inline const xn::DepthMetaData& getDepthMetaData () const throw ();

    /**
     * @author Suat Gedikli
     * @brief fills a user given block of memory with the disparity values with additional nearest-neighbor down-scaling.
     * @param[in] width the width of the desired disparity image.
     * @param[in] height the height of the desired disparity image.
     * @param[in,out] disparity_buffer the float pointer to the actual memory buffer to be filled with the disparity values.
     * @param[in] line_step if only a rectangular sub region of the buffer needs to be filled, then line_step is the
     *        width in bytes (not floats) of the original width of the depth buffer.
     */
    void fillDisparityImage (unsigned width, unsigned height, float* disparity_buffer, unsigned line_step = 0) const;

    /**
     * @author Suat Gedikli
     * @brief fills a user given block of memory with the disparity values with additional nearest-neighbor down-scaling.
     * @param[in] width width the width of the desired depth image.
     * @param[in] height height the height of the desired depth image.
     * @param[in,out] depth_buffer the float pointer to the actual memory buffer to be filled with the depth values.
     * @param[in] line_step if only a rectangular sub region of the buffer needs to be filled, then line_step is the
     *        width in bytes (not floats) of the original width of the depth buffer.
     */
    void fillDepthImage (unsigned width, unsigned height, float* depth_buffer, unsigned line_step = 0) const;

    /**
     * @author Suat Gedikli
     * @brief fills a user given block of memory with the raw values with additional nearest-neighbor down-scaling.
     * @param[in] width width the width of the desired raw image.
     * @param[in] height height the height of the desired raw image.
     * @param[in,out] depth_buffer the unsigned short pointer to the actual memory buffer to be filled with the raw values.
     * @param[in] line_step if only a rectangular sub region of the buffer needs to be filled, then line_step is the
     *        width in bytes (not floats) of the original width of the depth buffer.
     */
    void fillDepthImageRaw (unsigned width, unsigned height, unsigned short* depth_buffer, unsigned line_step = 0) const;

    /**
     * @author Suat Gedikli
     * @brief method to access the baseline of the "stereo" frame that was used to retrieve the depth image.
     * @return baseline in meters
     */
    inline float getBaseline () const throw ();

    /**
     * @author Suat Gedikli
     * @brief method to access the focal length of the "stereo" frame that was used to retrieve the depth image.
     * @return focal length in pixels
     */
    inline float getFocalLength () const throw ();

    /**
     * @author Suat Gedikli
     * @brief method to access the shadow value, that indicates pixels lying in shadow in the depth image.
     * @return shadow value
     */
    inline XnUInt64 getShadowValue () const throw ();

    /**
     * @author Suat Gedikli
     * @brief method to access the no-sample value, that indicates pixels where no disparity could be determined for the depth image.
     * @return no-sample value
     */
    inline XnUInt64 getNoSampleValue () const throw ();

    /**
     * @author Suat Gedikli
     * @return the width of the depth image
     */
    inline unsigned getWidth () const throw ();

    /**
     * @author Suat Gedikli
     * @return the height of the depth image
     */
    inline unsigned getHeight () const throw ();

    /**
     * @author Suat Gedikli
     * @return an ascending id for the depth frame
     * @attention not necessarily synchronized with other streams
     */
    inline unsigned getFrameID () const throw ();

    /**
     * @author Suat Gedikli
     * @return a ascending timestamp for the depth frame
     * @attention its not the system time, thus can not be used directly to synchronize different sensors.
     *            But definitely synchronized with other streams
     */
    inline unsigned long getTimeStamp () const throw ();
  protected:
    boost::shared_ptr<xn::DepthMetaData> depth_md_;
    float baseline_;
    float focal_length_;
    XnUInt64 shadow_value_;
    XnUInt64 no_sample_value_;
  } ;

  DepthImage::DepthImage (boost::shared_ptr<xn::DepthMetaData> depth_meta_data, float baseline, float focal_length, XnUInt64 shadow_value, XnUInt64 no_sample_value) throw ()
  : depth_md_ (depth_meta_data)
  , baseline_ (baseline)
  , focal_length_ (focal_length)
  , shadow_value_ (shadow_value)
  , no_sample_value_ (no_sample_value) { }

  DepthImage::~DepthImage () throw () { }

  const xn::DepthMetaData&
  DepthImage::getDepthMetaData () const throw ()
  {
    return *depth_md_;
  }

  float
  DepthImage::getBaseline () const throw ()
  {
    return baseline_;
  }

  float
  DepthImage::getFocalLength () const throw ()
  {
    return focal_length_;
  }

  XnUInt64
  DepthImage::getShadowValue () const throw ()
  {
    return shadow_value_;
  }

  XnUInt64
  DepthImage::getNoSampleValue () const throw ()
  {
    return no_sample_value_;
  }

  unsigned
  DepthImage::getWidth () const throw ()
  {
    return depth_md_->XRes ();
  }

  unsigned
  DepthImage::getHeight () const throw ()
  {
    return depth_md_->YRes ();
  }

  unsigned
  DepthImage::getFrameID () const throw ()
  {
    return depth_md_->FrameID ();
  }

  unsigned long
  DepthImage::getTimeStamp () const throw ()
  {
    return static_cast<unsigned long> (depth_md_->Timestamp ());
  }
} // namespace
#endif
#endif //__OPENNI_DEPTH_IMAGE
